diff --git a/esphome/components/api/api_server.cpp b/esphome/components/api/api_server.cpp
index 6852afe937..740e4259b1 100644
--- a/esphome/components/api/api_server.cpp
+++ b/esphome/components/api/api_server.cpp
@@ -106,7 +106,7 @@ void APIServer::setup() {
   }
 #endif
 
-  this->last_connected_ = millis();
+  this->last_connected_ = App.get_loop_component_start_time();
 
 #ifdef USE_ESP32_CAMERA
   if (esp32_camera::global_esp32_camera != nullptr && !esp32_camera::global_esp32_camera->is_internal()) {
@@ -164,7 +164,7 @@ void APIServer::loop() {
   }
 
   if (this->reboot_timeout_ != 0) {
-    const uint32_t now = millis();
+    const uint32_t now = App.get_loop_component_start_time();
     if (!this->is_connected()) {
       if (now - this->last_connected_ > this->reboot_timeout_) {
         ESP_LOGE(TAG, "No client connected; rebooting");